Revision 0:61aafea4a4fe, committed 2016-11-13

Comitter:

faif

Date:

Sun Nov 13 12:22:13 2016 +0000

Commit message:

First version; ; Control a continuous rotation version using USB

Changed in this revision

diff -r 000000000000 -r 61aafea4a4fe Servo.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.lib	Sun Nov 13 12:22:13 2016 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/simon/code/Servo/#36b69a7ced07

diff -r 000000000000 -r 61aafea4a4fe mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sun Nov 13 12:22:13 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/0ab6a29f35bf
\ No newline at end of file

diff -r 000000000000 -r 61aafea4a4fe usb-servo.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/usb-servo.cpp	Sun Nov 13 12:22:13 2016 +0000
@@ -0,0 +1,82 @@
+#include "mbed.h"
+#include "Servo.h"
+#include "usb-servo.h" 
+
+
+static const char CLS[] = "\x1B[2J";        // VT100 erase screen
+static const char HOME[] = "\x1B[H";        // VT100 home
+
+static const float INITIAL_RANGE = 0.0005;
+static const float INITIAL_POSITION = 0.5;
+
+static const float CLOCK = 0.0;
+static const float CCLOCK = 1.0;
+static const float RANGE_MODIFIER = 0.0001;
+
+struct Movement
+{   
+    private:    
+        float calibration;
+        
+    public:
+        float range;
+        float position;
+     
+        Movement(float r, float p) : range(r), position(p)
+        {
+            calibration = 45.0;
+        };
+        
+        float getCalibration() const
+        {
+            return calibration;
+        }
+};
+ 
+int main() {
+    clear_screen();
+    show_menu();
+    Movement movement(INITIAL_RANGE, INITIAL_POSITION);
+    
+    while (true) 
+    {                  
+        switch(pc.getc()) 
+        {
+            case '1': 
+                movement.position = CLOCK;
+                break;
+            case '2': 
+                movement.position = CCLOCK;
+                break;
+            case '3': 
+                movement.range += RANGE_MODIFIER;
+                break; 
+            case '4': 
+                movement.range -= RANGE_MODIFIER;
+                break;
+        }
+        pc.printf("position = %.1f, range = +/-%0.4f\n\r", movement.position, movement.range);
+        update(myservo, movement);
+    }
+}
+
+void clear_screen()
+{
+    pc.printf(CLS);      
+    pc.printf(HOME);               
+}
+
+void show_menu()
+{
+    pc.printf("\rServo controls:\n\r");
+    pc.printf("1. Full speed clockwise\n\r");
+    pc.printf("2. Full speed counter-clockwise\n\r");
+    pc.printf("3. Increase speed\n\r");
+    pc.printf("4. Decrease speed\n\r");
+}
+
+void update(const Servo& servo, const Movement& move)
+{
+    myservo.calibrate(move.range, move.getCalibration()); 
+    myservo = move.position;    
+}
\ No newline at end of file

diff -r 000000000000 -r 61aafea4a4fe usb-servo.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/usb-servo.h	Sun Nov 13 12:22:13 2016 +0000
@@ -0,0 +1,12 @@
+#ifndef USB_SERVO_H
+#define USB_SERVO_H
+
+Servo myservo(p21);
+Serial pc(USBTX, USBRX);
+struct Movement;
+
+void clear_screen();
+void show_menu();
+void update(const Servo& servo, const Movement& move);
+
+#endif